CN107953313A - A kind of robot lifting gear - Google Patents
A kind of robot lifting gear Download PDFInfo
- Publication number
- CN107953313A CN107953313A CN201711174119.0A CN201711174119A CN107953313A CN 107953313 A CN107953313 A CN 107953313A CN 201711174119 A CN201711174119 A CN 201711174119A CN 107953313 A CN107953313 A CN 107953313A
- Authority
- CN
- China
- Prior art keywords
- lifting
- motor
- lifting gear
- pedestal
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of robot lifting gear, including pedestal, feed screw nut, motor, active synchronization belt wheel, synchronous belt, driven synchronous pulley, motor mount, line slide rail, lifting platform, position detecting switch.The lifting part is by lifting thing support platform, and the support of lifting part is to support to be fixedly linked with line slide rail by screw axis；And the other end then transmits power by synchronous belt, synchronizing wheel transmission and base part motor side.Motor is rotated by servo controller coding-control motor, and driving lifting gear makes lifting part be reached by sliding block slide displacement and formulate accurate operating position by synchronous belt, synchronizing wheel transmission campaign.Show from operation principle, lifting gear is in lifting process, stop position is rotated by servo control device coding-control motor, so that lifting part passes through certain displacement amount, so as to solve in lifting position fixing process, the various problems that displacement relation occurs between lifting position and lift points position, obtain accurately lifting position.
Description
Technical field
The present invention is suitable for rail vehicle maintenance system technical field, is related to the inspection of the rail vehicles such as EMU, subway, locomotive
Repair, be specifically a kind of robot lifting gear.
Background technology
Robot lifting gear is one of rail vehicle inspection trolley critical piece.Lifting gear lifting carrying object include but
It is not limited to：Robot, vision system, measuring system etc. check survey tool.Rail vehicle inspection trolley is vision robot's peace
On dedicated test trolley, it can be automatically performed to overhaul in storehouse by the instruction that wireless network is sent according to application platform and make
Industry, and repair schedule and equipment state are beamed back in real time；And the instrument that Image Acquisition is carried out on rail vehicle inspection trolley is to use
Robot carries vision measurement, is walked by special cart, multi-point mobile working；The accurate repetitive positioning accuracy of robot trajectory
Reliably.But since the wheel of rail vehicle has certain wear extent in the process of moving, cause the height of detected material repeated detection
Low difference, so needing a lifting platform that can compensate the detection error brought by wheel wear automatically.
The content of the invention
It is an object of the invention to provide a kind of robot lifting gear, to solve proposed in the above background technology ask
Topic.
To achieve the above object, the present invention provides following technical solution：
A kind of robot lifting gear, including pedestal, feed screw nut, motor, active synchronization belt wheel, synchronous belt, driven synchronous belt
Wheel, motor mount, line slide rail, lifting platform, position detecting switch.Screw, screw are fixedly connected with the inside of the pedestal
It is supported and positions using bearing combination up and down；Motor is fixed on pedestal by motor mount, and output shaft passes through actively same
Step wheel, synchronous band structure are connected to screw end, and motor drives screw feed screw nut is increased by synchronous band structure；And pedestal
Outside be mounted with line slide rail, support platform is connected by being fixed on sliding block with line slide rail, support platform extend one
Flange is connected with feed screw nut, synchronously moves up and down with feed screw nut；In lifting action, motor is encoded by servo controller
Motor is controlled to rotate, driving lifting gear makes lifting part pass through sliding block slide displacement by synchronous belt, synchronizing wheel transmission campaign
Precisely reach operating position.
The pedestal power section motor reaches running part, lifting action by toothed belt transmission, and motor passes through servo
Coding of controls control motor rotates, and driving lifting gear makes lifting part pass through cunning by synchronous belt, synchronizing wheel transmission campaign
Block slide displacement, which reaches, formulates accurate operating position.
The screw and slide of the pedestal are all to have high-precision sub-assembly, and servomotor also can be positioned accurately,
The pulse value sent by counting motor driver calculates the distance of walking, precisely operating position needed for arrival.
The screw installation site of the pedestal is nearby provided with 3 detection switch, when feed screw nut moves, detection switch
Detect induction rod, learn the initial position and extreme position of lifting platform, make equipment in safe range by detecting signal
Operation.
Drag chain is installed, the pipeline on lifting platform can be transmitted to base by drag chain between told pedestal and lifting platform
Seat is connected with control section, and when lifting platform moves up and down, the pipeline on lifting platform is accompanied movement under the protection of drag chain.
As further scheme of the invention：Described is toothed belt transmission structure type, can also use gear drive knot
Configuration formula, the constitutional detail of correlation change are changed to drive end gear for active synchronization wheel, and driven synchronizing wheel is changed to driven tooth
Wheel, so that wherein synchronous belt is cancelled.
As further scheme of the invention：It is described to move structure type for bearing fixed seat, wherein it is angular contact to use
Bearing combines, and also can replace angular contact bearing using deep groove ball bearing.
As further scheme of the invention：Described is motor output form, can also use servomotor or stepping
Motor replaces.
As further scheme of the invention：The spacing test format up and down detects for detection switch, can also adopt
Journey switch in place.
Compared with prior art, the beneficial effects of the invention are as follows：Show from operation principle, lifting gear is motor by watching
Take coding of controls control motor to rotate, driving lifting gear passes through lifting part by synchronous belt, synchronizing wheel transmission campaign
Sliding block slide displacement, which reaches, formulates accurate operating position.It is single so as to solve lifting anchor point, or position is closed between multi-point
System is there are deviation, it is difficult to the problems such as providing strong foundation to data acquisition or contrast.The pipeline of hoistable platform is oriented to by pipeline
The protection of groove and drag chain, when lifting platform moves up and down, the pipeline on lifting platform is accompanied movement under the protection of drag chain.With
And it is therefore of the invention by improved structure, efficiently against the deficiency of prior art.
The configuration of the present invention is simple, using synchronizing wheel toothed belt transmission, and screw rod transmission method, by passing through SERVO CONTROL
Device coding-control motor rotates, and lifting platform is displaced to up to multiple accurate operating positions, so as to solve to need in practice
Realize that multi-point data acquisition or comparative analysis provide more accurate foundation.
Brief description of the drawings
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the dimensional structure diagram of the present invention.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
Refer to attached drawing 1~2, in the embodiment of the present invention, a kind of lifting gear, including diagram：1 pedestal, 2a screws, 2b
Stem nut, 3a line slide rails, 3b linear sliders, 4 motors, 5 screw fixed seats, 6 active synchronization belt wheels, 7 synchronous belts, 8 is driven same
Walk belt wheel, 9 motor mounts, 10 drag chains, 11 detection bars, 12 lifting platforms, 13 pipeline guide grooves, 14 screw mandrel support seats, 15a inspections
Slowdown monitoring switch one, 15b detection switch two, 15c detection switch three, 16 robots.
The present invention operation principle be：First by setting detection switch position, it can realize that first point position corresponds to, Ran Houtong
The rotation of servo control device coding-control motor is crossed, so that lifting part, by certain displacement amount, active synchronization wheel is via synchronous belt
Driven synchronizing wheel is transmitted to, driven synchronizing wheel is moved together with feed screw nut realizes that leading screw rotates, and leading screw lifting, decline to drive and float
Movable plate realizes that lifting platform reaches ideal position so that slide block movement.
Show from above-mentioned operation principle, robot lifting gear is to control to read detection switch setting by motor encoder
Origin and up to after initial position, driving screw rotation makes sliding block move along a straight line, make lifting platform position increment move on to up to it is multiple precisely
Operating position.Drag chain is installed, the pipeline on lifting platform can be transmitted to pedestal by drag chain between pedestal and lifting platform
It is connected with control section, when lifting platform moves up and down, the pipeline on lifting platform is accompanied movement under the protection of drag chain.Cause
This present invention by improved structure, even if flat equipments on stage has pipeline, can also be completely transferred to by the protection of drag chain
Pedestal, extends the application range of lifting gear, and the fixture with electrical structure or programmable multi-axis machine can be installed on platform
People.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference numeral in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical solution, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (9)
1. a kind of robot lifting gear, including pedestal, feed screw nut, motor, active synchronization belt wheel, synchronous belt, driven synchronization
Belt wheel, motor mount, line slide rail, lifting platform, position detecting switch, it is characterized in that being fixedly connected on the inside of the pedestal
Screw, screw are supported and are positioned using bearing combination up and down；Motor is fixed on pedestal by motor mount, and output shaft leads to
Cross active synchronization wheel, synchronous band structure is connected to screw end, motor drives screw to make on feed screw nut by synchronous band structure
Rise；And line slide rail is mounted with the outside of pedestal, support platform is connected by being fixed on sliding block with line slide rail, support platform
One flange of extension is connected with feed screw nut, synchronously moves up and down with feed screw nut；In lifting action, motor passes through servo control
Device coding-control motor processed rotates, and driving lifting gear makes lifting part pass through sliding block by synchronous belt, synchronizing wheel transmission campaign
Slide displacement precisely reaches operating position.
2. robot lifting gear according to claim 1, it is characterized in that the pedestal power section motor passes through synchronization
V belt translation reaches running part, lifting action, and motor is rotated by servo controller coding-control motor, and driving lifting gear leads to
Synchronous belt, synchronizing wheel transmission campaign are crossed, lifting part is reached by sliding block slide displacement and formulates accurate operating position.
3. robot lifting gear according to claim 1, it is characterized in that the screw and slide of the pedestal all have
High-precision sub-assembly, servomotor also can be positioned accurately, and the pulse value sent by counting motor driver calculates row
The distance walked, operating position needed for accurate arrival.
4. robot lifting gear according to claim 1, it is characterized in that the screw installation site of the pedestal is nearby pacified
Equipped with 3 detection switch, when feed screw nut moves, detection switch detects induction rod, learn the initial position of lifting platform with
And extreme position, equipment is run in safe range by detecting signal.
5. robot lifting gear according to claim 1, it is characterized in that being provided between told pedestal and lifting platform
Drag chain, the pipeline on lifting platform can be transmitted to pedestal by drag chain and be connected with control section, when lifting platform moves up and down
When, the pipeline on lifting platform is accompanied movement under the protection of drag chain.
6. robot lifting gear according to claim 1, it is characterized in that：Described is toothed belt transmission structure type, also
Gear transmission structure form can be used, the constitutional detail of correlation change is changed to drive end gear for active synchronization wheel, driven same
Step wheel is changed to driven gear, so that wherein synchronous belt is cancelled.
7. robot lifting gear according to claim 1, it is characterized in that：It is described to move structure type for bearing fixed seat,
Wherein combined using for angular contact bearing, also angular contact bearing can be replaced using deep groove ball bearing.
8. robot lifting gear according to claim 1, it is characterized in that：Described is motor output form, can also be used
Servomotor or stepper motor replace.
9. robot lifting gear according to claim 1, it is characterized in that：The spacing test format up and down is opened for detection
Detection is closed, can also adopt journey switch in place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711174119.0A CN107953313A (en) | 2017-11-22 | 2017-11-22 | A kind of robot lifting gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711174119.0A CN107953313A (en) | 2017-11-22 | 2017-11-22 | A kind of robot lifting gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107953313A true CN107953313A (en) | 2018-04-24 |
Family
ID=61963872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711174119.0A Withdrawn CN107953313A (en) | 2017-11-22 | 2017-11-22 | A kind of robot lifting gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107953313A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109079782A (en) * | 2018-08-09 | 2018-12-25 | 上海常仁信息科技有限公司 | A kind of dropproof robot |
| CN110653843A (en) * | 2019-09-27 | 2020-01-07 | 深圳市立安科技有限公司 | Guide tracked closestool moves and carries manipulator convenient to remove |
| CN110813607A (en) * | 2019-11-26 | 2020-02-21 | 上海拔山自动化技术有限公司 | Lifting device and spraying robot |
| CN111422544A (en) * | 2020-04-11 | 2020-07-17 | 刘兆喜 | Logistics goods shelf |
| CN112959294A (en) * | 2021-03-24 | 2021-06-15 | 杭州蓝芯科技有限公司 | Robot for feeding and discharging coiled materials of butt-joint machine table |
| CN113146178A (en) * | 2021-04-19 | 2021-07-23 | 东北大学 | End effector for grabbing and thread assembling and using method thereof |
| CN114833815A (en) * | 2022-05-17 | 2022-08-02 | 睿尔曼智能科技（北京）有限公司 | Lightweight linear motion device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1936554A (en) * | 2005-09-22 | 2007-03-28 | 清华同方威视技术股份有限公司 | Lifting device with rotating plate |
| CN201147840Y (en) * | 2007-12-28 | 2008-11-12 | 亨特尔(天津)科技开发有限公司 | High-precision synchronous belt lifting mechanism |
| CN201376867Y (en) * | 2009-01-16 | 2010-01-06 | 泰州德通电气有限公司 | Single-crystal silicon rod lifter |
| CN103624775A (en) * | 2013-11-28 | 2014-03-12 | 华南理工大学 | Synchronous belt deceleration plane joint robot |
| WO2016062246A1 (en) * | 2014-10-21 | 2016-04-28 | 山东鲁能智能技术有限公司 | Indoor track style intelligent inspection robot system |
| CN106927235A (en) * | 2017-04-27 | 2017-07-07 | 湖南艾博特机器人系统有限公司 | A kind of intelligent conveying device |
| CN206624589U (en) * | 2017-03-23 | 2017-11-10 | 苏州市职业大学 | A kind of adaptive multi-layer lifting platform |
| CN207841305U (en) * | 2017-11-22 | 2018-09-11 | 广州松兴电气股份有限公司 | A kind of robot lifting gear |
-
2017
- 2017-11-22 CN CN201711174119.0A patent/CN107953313A/en not_active Withdrawn
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1936554A (en) * | 2005-09-22 | 2007-03-28 | 清华同方威视技术股份有限公司 | Lifting device with rotating plate |
| CN201147840Y (en) * | 2007-12-28 | 2008-11-12 | 亨特尔(天津)科技开发有限公司 | High-precision synchronous belt lifting mechanism |
| CN201376867Y (en) * | 2009-01-16 | 2010-01-06 | 泰州德通电气有限公司 | Single-crystal silicon rod lifter |
| CN103624775A (en) * | 2013-11-28 | 2014-03-12 | 华南理工大学 | Synchronous belt deceleration plane joint robot |
| WO2016062246A1 (en) * | 2014-10-21 | 2016-04-28 | 山东鲁能智能技术有限公司 | Indoor track style intelligent inspection robot system |
| CN206624589U (en) * | 2017-03-23 | 2017-11-10 | 苏州市职业大学 | A kind of adaptive multi-layer lifting platform |
| CN106927235A (en) * | 2017-04-27 | 2017-07-07 | 湖南艾博特机器人系统有限公司 | A kind of intelligent conveying device |
| CN207841305U (en) * | 2017-11-22 | 2018-09-11 | 广州松兴电气股份有限公司 | A kind of robot lifting gear |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109079782A (en) * | 2018-08-09 | 2018-12-25 | 上海常仁信息科技有限公司 | A kind of dropproof robot |
| CN110653843A (en) * | 2019-09-27 | 2020-01-07 | 深圳市立安科技有限公司 | Guide tracked closestool moves and carries manipulator convenient to remove |
| CN110813607A (en) * | 2019-11-26 | 2020-02-21 | 上海拔山自动化技术有限公司 | Lifting device and spraying robot |
| CN111422544A (en) * | 2020-04-11 | 2020-07-17 | 刘兆喜 | Logistics goods shelf |
| CN112959294A (en) * | 2021-03-24 | 2021-06-15 | 杭州蓝芯科技有限公司 | Robot for feeding and discharging coiled materials of butt-joint machine table |
| CN113146178A (en) * | 2021-04-19 | 2021-07-23 | 东北大学 | End effector for grabbing and thread assembling and using method thereof |
| CN114833815A (en) * | 2022-05-17 | 2022-08-02 | 睿尔曼智能科技（北京）有限公司 | Lightweight linear motion device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107953313A (en) | A kind of robot lifting gear | |
| CN101619965B (en) | Wheel-pair automatic measuring device | |
| CN102003943B (en) | Method for measuring diameter of non-contact forging on line by using laser | |
| CN104848986B (en) | A kind of torque sensor position regulator of standard torquer | |
| CN104165765B (en) | Acceleration performance degradation testing method for linear feeding unit | |
| CN102998116B (en) | Device and method for testing reliability of rolling linear guide track pair | |
| CN204807049U (en) | Laser gear chamfering profile measuring apparatu based on machine vision guide | |
| CN104457608A (en) | Cylinder size error detection system | |
| CN108533712A (en) | A kind of high-precision vertical lift control system | |
| CN104122543A (en) | Automatic lifting rotating scanning device of hydrophone | |
| CN113401764B (en) | Elevator inspection system having a robotic platform configured to inspect components in a hoistway | |
| CN108490878B (en) | Abrasion rule test method for combined linear feeding unit of numerical control machine tool | |
| CN207841305U (en) | A kind of robot lifting gear | |
| CN108955521B (en) | Crane track detection device and method based on one-station two-robot structure | |
| CN108942408A (en) | Part cutting deviation analytical equipment | |
| CN103575530A (en) | Intelligent control double-meshing automobile gear precision detection system | |
| CN208587469U (en) | A kind of high-precision vertical lift control system | |
| CN109540009B (en) | External diameter measuring device and external diameter measuring method | |
| CN108002308A (en) | Robot lifting gear | |
| CN102189434A (en) | Lifting structure of numerically controlled drilling and milling machine | |
| CN208419915U (en) | The device of automatic detection elevator installation accuracy | |
| KR101480857B1 (en) | A device for diagnosing fault of table roller | |
| CN208586026U (en) | Robot lifting device | |
| CN112917491B (en) | System and method for automatically transferring switch cabinet to detection center | |
| CN109129427A (en) | A kind of the plane parallel mechanism device and control method of double five-rod drivings |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180424 |